相关论文: RGBTrack: Fast, Robust Depth-Free 6D Pose Estimati…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

RGB-Thermal (RGBT) tracking aims to exploit visible and thermal infrared modalities for robust all-weather object tracking. However, existing RGBT trackers struggle to resolve modality discrepancies, which poses great challenges for robust…

RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…

RGB-D object tracking has attracted considerable attention recently, achieving promising performance thanks to the symbiosis between visual and depth channels. However, given a limited amount of annotated RGB-D tracking data, most…

Understanding dynamic 3D scenes is crucial for extended reality (XR) and autonomous driving. Incorporating semantic information into 3D reconstruction enables holistic scene representations, unlocking immersive and interactive applications.…

The best RGBD trackers provide high accuracy but are slow to run. On the other hand, the best RGB trackers are fast but clearly inferior on the RGBD datasets. In this work, we propose a deep depth-aware long-term tracker that achieves…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…

RGBD (RGB plus depth) object tracking is gaining momentum as RGBD sensors have become popular in many application fields such as robotics.However, the best RGBD trackers are extensions of the state-of-the-art deep RGB trackers. They are…

Automated monitoring and analysis of passenger movement in safety-critical parts of transport infrastructures represent a relevant visual surveillance task. Recent breakthroughs in visual representation learning and spatial sensing opened…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

Referring Multi-Object Tracking (RMOT) aims to track specific targets based on language descriptions and is vital for interactive AI systems such as robotics and autonomous driving. However, existing RMOT models rely solely on 2D RGB data,…

Recent 6D pose estimation methods demonstrate notable performance but still face some practical limitations. For instance, many of them rely heavily on sensor depth, which may fail with challenging surface conditions, such as transparent or…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

The increasing use of 360 images across various domains has emphasized the need for robust depth estimation techniques tailored for omnidirectional images. However, obtaining large-scale labeled datasets for 360 depth estimation remains a…